pylibfranka Documentation

Overview

pylibfranka is a Python library that provides high-level access to Franka Robotics robots, enabling real-time control with torque, position, and velocity commands.

Key Features

• Real-time Control: Send torque, position, and velocity commands at 1 kHz

• Multiple Control Modes: Joint/Cartesian position, velocity, and torque control

• Robot State Access: Read all robot state information including joint positions, velocities, torques

• Dynamics Model: Compute forward/inverse kinematics, mass matrix, Coriolis, and gravity

• Gripper Control: Full control of Franka Hand gripper

• NumPy Integration: All arrays are NumPy arrays for seamless integration

Documentation Structure

Quick Reference

• API Overview
• Class List
• Class Hierarchy
• Module Reference

Detailed API Reference

• Robot
  • Class Definition
  • Constructor
  • Control Methods
  • State and Model
  • Configuration Methods
  • Error Handling
  • Related Classes
  • See Also
• Control Interface
  • ActiveControlBase Class
  • Command Types
  • See Also
• Dynamics Model
  • Class Definition
  • Overview
  • Methods
  • See Also
• Gripper
  • Gripper Class
  • Methods
  • GripperState Class
  • See Also
• Robot State
  • RobotState Class
  • State Attributes
  • Errors Class
  • RobotMode Enum
  • Duration Class
  • Complete Examples
  • See Also
• Exceptions
  • Exception Hierarchy
  • Exception Classes
  • See Also

Indices and Tables

• Index - Complete index of all classes and methods

• Module Index - Module index

• Search Page - Search the documentation